JP4787385B2 - Control method of irradiation distance and irradiation direction of vehicle headlamp - Google Patents

Control method of irradiation distance and irradiation direction of vehicle headlamp Download PDF

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Publication number
JP4787385B2
JP4787385B2 JP09158798A JP9158798A JP4787385B2 JP 4787385 B2 JP4787385 B2 JP 4787385B2 JP 09158798 A JP09158798 A JP 09158798A JP 9158798 A JP9158798 A JP 9158798A JP 4787385 B2 JP4787385 B2 JP 4787385B2
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vehicle
headlamp
irradiation
road
video sensor
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JPH10278670A (en
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ガルニッツ ライナー
ゴルトベック イェンス
ヒュルトゲン ベルント
ペッヒミュラー ヴェルナー
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/05—Special features for controlling or switching of the light beam
    • B60Q2300/056—Special anti-blinding beams, e.g. a standard beam is chopped or moved in order not to blind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/13—Attitude of the vehicle body
    • B60Q2300/132—Pitch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/13—Attitude of the vehicle body
    • B60Q2300/134—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/32—Road surface or travel path
    • B60Q2300/322—Road curvature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/32—Road surface or travel path
    • B60Q2300/324—Road inclination, e.g. uphill or downhill
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/41—Indexing codes relating to other road users or special conditions preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Non-Portable Lighting Devices Or Systems Thereof (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The regulation method uses sensors mounted on the vehicle for providing information relating to the vehicle and its environment. The information is evaluated for controlling adjustment of the beam width or angle for obtaining the required illumination of the road in front of the vehicle. At least one video sensor (2) may be mounted on the vehicle for providing an image of the road surface immediately in front of the vehicle, fed to an image evaluation device for determining the angle at which the headlamp beam hits the road surface.

Description

【０００１】
【発明の属する技術分野】
本発明は、車両にてそのヘッドランプの照射距離及び/又は照射方向の制御方法であって、前記ヘッドランプは、センサデータに基づき制御装置及び調整操作機構を介して調整操作されるようにした車両のヘッドランプの照射距離・照射方向の制御方法に関する。
【０００２】
【従来の技術】
従来技術、文献からは、車両のヘッドランプでの道路照明を、外部の状況に適合させることが公知である。そのような垂直方向のヘッドランプ角度の適合化、即ち、照射距離−調整は、データを用いて行われ、該データは、例えば車両走行機構にて測定されたばね変位距離を表している。測定されたばね変位距離からは、道路に対する車両位置状態を測定でき、それにより照射距離の後調整のためのデータが取得される。そのような照射距離の後調整は、車両がそれの走行状態を変える瞬時に行われ、処理−および調整セッティング時間により遅延が生じる。従って、制御は、常に、所定の遅延を以て車両の実際の状態に応答する。
【０００３】
従来技術からは、水平方向の照射方向調整が公知であり、ここで制御のためのデータがステアリングホイール位置から取得される。
【０００４】
【発明が解決しようとする課題】
本発明の課題とするところは、車両に対する走行路の最適照明を達成すべく、車両前方に存在する走行路のコンディション状況、事情へ、ヘッドランプ調整セッティング状態を適合化することを可能にするデータに基づいて車両のヘッドランプの照射距離・照射方向の制御が行われ得るようにすることである。
【０００５】
【課題を解決するための手段】
上記課題の解決のため、本発明によれば、車両にてヘッドランプの車両のヘッドランプの照射距離及び照射方向又はそのいずれか一方の制御方法であって、ヘッドランプは、センサデータに基づき制御装置及び調整操作機構を介して調整操作されるようにした方法において、少なくとも１つのセンサからそれの周囲に就いての情報を収集し、ヘッドランプ−調整セッティングを、前記センサ信号に基づき求められた道路コンディション状況、事情に適合化させるようにしたのである。本発明によれば、車両に対する走行路の最適照明を達成すべく、走行路のコンディション状況、事情へのヘッドランプ調整セッティング状態の適合化を可能にするデータに基づいて車両のヘッドランプの照射距離・照射方向の制御が行われ得るようになる。それにより、車両に対する最適の走行路の照明が達成される。
【０００６】
引用請求項に規定された手段により、請求項１に規定された方法の有利な発展形態及び改善が可能である。
【０００７】
特に有利には、制御にとって重要な車両に対する情報が求められる。ビデオセンサの使用により、走行路コンディション状況、事情の予見的決定が可能であり、走行路の最適の照明を達成できる。有利にはビデオセンサを介して車両のピッチ角度ないしピッチング角度を決定でき、それによりヘッドランプの照射距離の適合化が可能である。同様に、有利には、ビデオセンサを介して車両のヨーイング角度が決定され、ヘッドランプの水平方向照射方向及び／又は照射距離がヨーイング角度ないし走行路コンディション状況、事情に基づき調整される。さらに有利には、調整は次のような情報に基づいて行われる、即ち他の車両のヘッドランプも検出でき、投入された上向き、アッパービームを自動的に遮断し得るようにする情報に基づいて行われる。それと代替選択的に、また、警報を運転者に出力できるようにしてもよい。他の車両のヘッドランプの識別のため有利にはビデオセンサの評価のための簡単な手法が適用され、該簡単な手法は、画像シフト−推定を用いて静止光源及び運動するヘッドランプを相互に分離できる。有利には、他の車両の識別の際、上向き、アッパービームを遮断するのみならず、ヘッドランプ−調整セッティング状態の適合化を行わせることもできる。
【０００８】
有利には画像評価ユニットを介して制御に必要なパラメータが評価可能か否かがチェックされる。照明制御部によっては、ビデオデータがヘッドランプの有用な調整セッティングのための情報として寄与しない場合ヘッドランプは静的出発位置へ調整される。
【０００９】
次に図時の実施例を図を用いて本発明を詳述する。
【００１０】
【実施例】
図１に略示する車両は、その長手軸線１２が破線で示してある、車両中にはビデオセンサ２が設けられており、該ビデオセンサの長手軸線である光学軸１３が走行路平坦面１１の方向に延びている。ビデオセンサ長手軸線１３と走行路平坦面１１は角度αを成す。ビデオセンサ長手軸線と車輌長手軸線１２とは角度βをなす。
【００１１】
図２は、ケーブルを介して画像評価ユニット１４に接続されているビデオセンサ２を示す。別のケーブルを介して、画像評価ユニット１４は、制御装置１５と接続されており、該制御装置はヘッドランプ９に対する接続部を成す。
【００１２】
図３は、道路状況のシーンを示し、ここで、走行路縁部は、縁部マーキング５を付されている。自分の走行路３が中央筋状ライン４により対向車線走行路から分離されている。走行路縁部には、案内柱６が設けられている。対向走行路上には、向かって来る対向走行車輌７が示してある。照明されるべき領域８がハッチングで示してある。
【００１３】
車輌の最適照明に用いられるヘッドランプ調整セッティング状態を達成するため、先ず、走行路、そして、それのさらにつづくコンディション状況、事情、例えば、カーブ又は勾配又は傾斜及び向かって走って来る、又は先に走る車両を識別しなければならない。このために、先ず、ビデオセンサ２が使用される。ビデオセンサ２は車両内に次のように取付られる、即ち、車両前方に位置する通行空間を走行路３と共に注視するように取付られる。このためにセンサはできるだけ高い、中央に位置する風防ガラス板の後方に取付られる。ここで、ガラス板クリーナの作用ゾーンから離れたところにあるフロントガラス板の領域に位置する。ビデオセンサ２により収集された画像データは、画像処理ユニット１４に供給される。画像処理ユニットでは、ビデオ画像の評価が行われ、そして、ヘッドランプの制御に必要なパラメータが求められる。前記パラメータは、線路を介して制御装置１５に供給され、該制御装置は、適当なヘッドランプアクテュエータを介して、ヘッドランプ調整セッティング状態に影響を与える。自分の走行路３の領域８の最適の照明のため画像評価ユニット１４内で、走行トラック３のコンディション状況、事情を算出しなければならず、そして、また、走行トラックの更なるコンディション状況、事情をも予測し得なわければならない。
【００１４】
走行トラックのコンディション状況、事情の計算のためビデオセンサ２は走行路マーキングを検出し得る。追跡により一方では道路上での車両１の実際の位置を求め得る。未だ公開されていないＤＥ１９６７９３８には、走行トラック中央に対する車両の横方向ずれ及びピッチ角度ないしピッチング角度（Nickwinkel）α及びヨーイング角度を求めるための適当な方法が記載されている。他方では、ビデオデータに基づき、画像評価ユニット１４は走行路の引き続いてのコンディション状況、事情を予測し、その結果車両１のヘッドランプ９を走行路の更なるコンディション状況、事情に合わせて所期のように向けることができる。車両前方の走行トラック３が左方へ延びている場合、ヘッドランプは、更に、左方へ向けられる。ヘッドランプの調整セッティングは、水平方向及び垂直方向の双方で行われる。ヘッドランプの横方向調整セッティング状態の決定のため、車両のヨーイング角度及び走行トラックのコンディション状況、事情が評価される。走行路マーキング４に由来する情報に依拠しての走行路コンディション状況、事情の予測のほかに、走行路コンディション状況、事情の予測のため他の対象物が使用される方法も可能である。例えば、公開されていないＤＥ１９６３１９４は、対象物識別のためビデオをベースとした方法が記載されており、該対象物識別では、走行路平坦面内のマーク、筋状センタライン又は縁マーキング５がサーチされる。そのような対象物は、例えば、案内柱６、樹木及び他の車両である。自己車両前方の計算された空いている領域に基づき、照明さるべき領域８の位置状態を推測できる。前記のＤＥ１９６３１９４には、ステレオスコープ式手法が記載されている。ステレオスコープ式アプローチの場合、ビデオセンサ２の代わりに、ステレオカメラ対を取り付けなければならない。画像評価ユニットにおけるビデオセンサ２の情報の評価による走行路コンディション状況、事情の予測は、通行状態シーンの大きな多様性及び複雑性に基づき簡単ではない。ビデオセンサ２の情報からは一義的な、又は有意領域内に位置するパラメータを導出できないことが大いに起こり得る。この理由により、画像評価ユニットは、次のように構成されている、即ち、ビデオセンサ２により観測されるシーンを評価し得るか否かを画像処理アルゴリズムが絶えずチェックするように構成されている。そのようなチェックの場合当該シーンからの所要のパラメータの導出が可能でない場合には、画像評価ユニットは、相応の信号を制御ユニット１５に転送しなければならない。制御装置１５は、この場合、車両照明を次のような状態に制御する、即ち、通常の静的照明に相応する状態に制御する。それにより、従来の装備をした車両に比して劣悪でない走行路照明が行なわれる。その様な調整セッティング手法とは、直線状の走行路コンディションを想定し、ヘッドランプを真直ぐ向けることである。。
【００１５】
成る程、横方向の走行方向コンディション状況、事情も照射距離制御に重要であるが、例えば、殊にカーブにおける対面交通体の眩惑回避、防眩のために重要であるが、そのための重要な情報は、前方に延びている走行路に対する車両のピッチ角度ないしピッチング角度から求めることができる。このピッチ角度ないしピッチング角度は、走行路マーキング４，５から求めることもできる。マーキングが存在しない場合は有利には平坦面状態測定を介するピッチ角度ないしピッチング角度推定が行われる。ここで、走行路平坦面の垂直ないし基準ベクトルが計算される。前記垂直ないし基準ベクトルの計算は走行路におけるビデオセンサにより検出された任意の構造の観測により行われ得る。車両走行運動中の場合、平坦面測定は、カメラで行い得、車両静止、停止状態の場合、ステレオスコープ式手法プロセスを使用し得る。車両ピッチ角度ないしピッチング角度の測定、決定は平坦面−垂直ないし基準ベクトルと車両長手軸線との比較により行われる。基本的には、走行路モデリングの一層複雑なモデルを使用でき、例えば、湾曲した表面でのアプローチを使用できる。その場合、垂直ないし基準ベクトルは存在せず、ピッチ角度ないしピッチング角度は、走行路表面の所定の点に対して接線方向で求められるべきものである。
【００１６】
図４は、自己走行路３上でカーブに向かって走行する車両１を示す。走行路３は筋状センタライン４及び縁マーキング５により画定される。車両１のヘッドランプ９は領域１０を照射する。
【００１７】
ビデオセンサ２により検出されたビデオ画像は車両が左カーブに向かって運動しているとの情報を含む。ビデオセンサによりピックアップされた情報は、画像評価ユニット１４にて評価され、そして、それにより得られたパラメータが制御装置１５に転送され、そしてそこからヘッドランプ９へ転送される。車両の左ヘッドランプが左へ向かっての水平方向ずれを受けており、右ヘッドランプ１が左向きの方向にのみならず、上向き垂直光方向でも、カーブにおける走行路コンディション状況、事情に適合化されていることが判明する。
【００１８】
ビデオセンサ１３及び画像に基づく対象物識別の使用下での照射距離及び／又は照射方向の調整により、上向き、アッパービームの利用の場合でも走行路照明を最適化することが可能になる。最適化は、先行車両に追従する場合にも向かって来る対向車がある場合でも、行うことができる。前記最適化は、上向き、アッパービームから下向きロービームへの切換も含む。前記の役割を果たすためには、画像処理ユニットは、向かって来る対向車でも、自己車両前方を走る先行車を識別し得なければならない。そのような他の車両が識別され自己車両がその上向き、アッパービームを作動した場合、上向き、アッパービームの自動的遮断を行うか又は、運転者への警報を出力すると良い。運転者への警報の後、防眩を実施するのは運転者の責務である。或１つの車両が、上向き、アッパービームで走行している場合には、次のような前提条件を基礎とし得、即ち、完全な暗闇状態が支配しており、又可視領域内の他の車両の数が極く僅かであるということである。それらの前提条件下で、対象物検出のため著しく簡単化された方法を使用すればよい。ここで、画像評価ユニット１４は、たんに、ビデオセンサによりピックアップされたビデオ画像における明るく輝く点のみを観測する。先に行った仮定のもとで比較的に明るく照明された点は、単に、走行路又はそこでの対象物にて、自己のヘッドランプ光の反射ないし散乱により及び他の車両の照明装置により惹起され得る。自己車両の固有速度で接近する。ビデオ画像におけるすべての明るい個所は、動かない対象物における反射ないし散乱にて由来する筈のものである。これに対し他のすべての光は、動いている車両により惹起されたものである。そのようなことが検出された場合、運転者への警報ないし自動的防眩作用が行われる。運動の検出のためには、公知の手法を画像シフトずれ−推定のため使用できる。
【００１９】
簡単化された、又は複雑な対象物識別によっても、他の通行体が眩惑されるのを防止することができる。画像処理ユニット１４は、例えば、向かってくる車両を識別し、そして、照明を次のように後調整する、即ち、向かってくる車両が最小の眩惑しか受けないように後調整する。このために走行路は、垂直方向でも水平方向でも極く制限して照明せしめられる。同様に画像処理ユニット１４が、自己の走行路３上で先行車両を検出する場合にも、照明距離を低減できる。走行路上で再び他の通行体が存在しなくなると直ちに、先行方向及び側方に位置する領域８を大面積に亘り照明することができる。
【００２０】
【発明の効果】
本発明によれば、走行路のコンディション状況、事情へのヘッドランプ調整セッティング状態の適合化を可能にするデータに基づいて行われ、車両に対する走行路の最適照明を達成できるというという効果が奏される。
【図面の簡単な説明】
【図１】車両の略示図
【図２】ヘッドランプ調整の説明図
【図３】道路状況シーンの説明図
【図４】走行路の照明の説明図
【符号の説明】
１ 車両
２ ビデオセンサ走行トラック
３ 走行トラック
４ 筋状センターライン、走行路マーキング
５ 縁マーキング
６ 案内柱
７ 向かって来る車両
８ 被照明領域
９ ヘッドランプ
１１ 走行路平坦面
１２ 車両長手軸線
１３ ビデオセンサ長手軸線
１４ 画像評価ユニット
１５ 制御装置[0001]
BACKGROUND OF THE INVENTION
The present invention is a method for controlling the irradiation distance and / or irradiation direction of a headlamp in a vehicle, wherein the headlamp is adjusted and operated via a control device and an adjustment operation mechanism based on sensor data. The present invention relates to a method for controlling the irradiation distance and irradiation direction of a headlamp of a vehicle.
[0002]
[Prior art]
From the prior art and literature it is known to adapt road lighting with vehicle headlamps to the external situation. Such vertical headlamp angle adaptation, i.e., irradiation distance-adjustment, is performed using data, which represents, for example, a spring displacement distance measured by a vehicle travel mechanism. From the measured spring displacement distance, the vehicle position state with respect to the road can be measured, whereby data for post-adjustment of the irradiation distance is obtained. Such post-adjustment of the irradiation distance takes place instantly when the vehicle changes its running state, and delays occur due to processing and adjustment setting times. Therefore, the control always responds to the actual state of the vehicle with a predetermined delay.
[0003]
From the prior art, the adjustment of the irradiation direction in the horizontal direction is known, where data for control is obtained from the position of the steering wheel.
[0004]
[Problems to be solved by the invention]
The object of the present invention is to make it possible to adapt the headlamp adjustment setting state to the condition and circumstances of the traveling road existing in front of the vehicle in order to achieve the optimum illumination of the traveling road for the vehicle. Based on the above, it is possible to control the irradiation distance and irradiation direction of the headlamp of the vehicle.
[0005]
[Means for Solving the Problems]
In order to solve the above problems, according to the present invention, there is provided a control method for the headlamp irradiation distance and / or irradiation direction of a headlamp in a vehicle, wherein the headlamp is controlled based on sensor data. In a method adapted to be adjusted via a device and an adjustment operating mechanism, information about the surroundings is collected from at least one sensor, and a headlamp adjustment setting is determined based on the sensor signal. It was adapted to the road condition and circumstances. According to the present invention, in order to achieve the optimum illumination of the road for the vehicle, the irradiation distance of the headlamp of the vehicle based on data that enables adaptation of the headlamp adjustment setting state to the condition condition of the road and the circumstances -The irradiation direction can be controlled. Thereby, the optimal illumination of the traveling path for the vehicle is achieved.
[0006]
Advantageous developments and improvements of the method as defined in claim 1 are possible by means as defined in the cited claims.
[0007]
Particularly advantageously, information about the vehicle that is important for control is required. By using a video sensor, it is possible to predict the road condition and the situation in advance, and to achieve optimal illumination of the road. Advantageously, the pitch angle or pitching angle of the vehicle can be determined via a video sensor, so that the irradiation distance of the headlamp can be adapted. Similarly, the yawing angle of the vehicle is advantageously determined via a video sensor, and the horizontal illumination direction and / or illumination distance of the headlamp is adjusted based on the yawing angle or the condition of the roadway and the circumstances. Further advantageously, the adjustment is made on the basis of the following information, i.e. on the information that can also detect the headlamps of other vehicles and automatically shut off the upper beam that is turned on. Done. Alternatively or alternatively, an alarm may be output to the driver. For the identification of the headlamps of other vehicles, a simple method is preferably applied for the evaluation of the video sensor, which uses image shift-estimation to mutually connect the stationary light source and the moving headlamp. Can be separated. Advantageously, when discriminating other vehicles, not only can the upper beam be interrupted, but also the headlamp-adjustment settings can be adapted.
[0008]
It is advantageously checked whether the parameters required for the control can be evaluated via the image evaluation unit. Depending on the lighting control, the headlamp is adjusted to a static starting position if the video data does not contribute as information for useful adjustment settings of the headlamp.
[0009]
Next, the present invention will be described in detail with reference to the drawings.
[0010]
【Example】
The vehicle schematically shown in FIG. 1 is provided with a video sensor 2 in which the longitudinal axis 12 is indicated by a broken line, and the optical axis 13 which is the longitudinal axis of the video sensor is a flat road surface 11. It extends in the direction of The video sensor longitudinal axis 13 and the travel path flat surface 11 form an angle α. The video sensor longitudinal axis and the vehicle longitudinal axis 12 form an angle β.
[0011]
FIG. 2 shows the video sensor 2 connected to the image evaluation unit 14 via a cable. The image evaluation unit 14 is connected to the control device 15 via another cable, and the control device forms a connection to the headlamp 9.
[0012]
FIG. 3 shows a road situation scene, where the edge of the road is marked with an edge marking 5. The own traveling path 3 is separated from the opposite lane traveling path by the central streak line 4. A guide post 6 is provided at the traveling road edge. On the opposite running path, an opposite running vehicle 7 is shown. The area 8 to be illuminated is indicated by hatching.
[0013]
In order to achieve the headlamp adjustment setting state used for the optimal lighting of the vehicle, it will first run towards the road, and its further condition conditions, circumstances such as curves or slopes or slopes, or first You must identify the vehicle you are running. For this purpose, first the video sensor 2 is used. The video sensor 2 is mounted in the vehicle as follows, that is, is mounted so as to watch the traffic space located in front of the vehicle together with the traveling path 3. For this purpose, the sensor is mounted as high as possible behind the central windshield. Here, it is located in the area of the windshield that is away from the zone of action of the glass cleaner. The image data collected by the video sensor 2 is supplied to the image processing unit 14. In the image processing unit, the video image is evaluated, and parameters necessary for controlling the headlamp are obtained. Said parameters are supplied to the control device 15 via the track, which influences the headlamp adjustment setting status via a suitable headlamp actuator. The condition and circumstances of the running track 3 must be calculated in the image evaluation unit 14 for optimal illumination of the area 8 of the own running path 3 and also further conditions and circumstances of the running track. It must be difficult to predict.
[0014]
The video sensor 2 can detect the road marking for calculating the condition and situation of the running track. On the one hand, the actual position of the vehicle 1 on the road can be determined by tracking. DE 1967938, which has not yet been published, describes a suitable method for determining the lateral displacement of the vehicle with respect to the center of the running track and the pitch angle (Nickwinkel) α and yawing angle. On the other hand, based on the video data, the image evaluation unit 14 predicts the subsequent condition and circumstances of the road, and as a result, the headlamp 9 of the vehicle 1 is adjusted to the further condition and circumstances of the road. Can be directed like When the traveling track 3 in front of the vehicle extends leftward, the headlamp is further directed leftward. The adjustment setting of the headlamp is performed both in the horizontal direction and in the vertical direction. In order to determine the horizontal adjustment setting state of the headlamp, the yawing angle of the vehicle and the condition and circumstances of the running track are evaluated. In addition to the prediction of the road condition and the situation based on the information derived from the road marking 4, a method in which another object is used for the prediction of the road condition and the situation is also possible. For example, unpublished DE 1963194 describes a video-based method for object identification, in which a mark, a streak centerline or an edge marking 5 on the flat surface of the road is searched. Is done. Such objects are, for example, guide posts 6, trees and other vehicles. Based on the calculated vacant area ahead of the host vehicle, the position state of the area 8 to be illuminated can be estimated. The DE1963194 describes a stereoscope method. In the case of a stereoscopic approach, a stereo camera pair must be attached instead of the video sensor 2. It is not easy to predict the traveling road condition and circumstances by evaluating the information of the video sensor 2 in the image evaluation unit based on the great diversity and complexity of the traffic scene. It is highly possible that parameters that are unambiguous or within a significant region cannot be derived from the information of the video sensor 2. For this reason, the image evaluation unit is configured as follows: the image processing algorithm is configured to constantly check whether the scene observed by the video sensor 2 can be evaluated. In the case of such a check, if it is not possible to derive the required parameters from the scene, the image evaluation unit must forward a corresponding signal to the control unit 15. In this case, the control device 15 controls the vehicle lighting in the following state, that is, in a state corresponding to normal static lighting. Thereby, traveling road illumination that is not inferior to that of a vehicle equipped with conventional equipment is performed. Such an adjustment setting method is to turn the headlamp straight, assuming a straight road condition. .
[0015]
As you can see, the condition and circumstances of the running direction in the lateral direction are also important for the irradiation distance control. Can be obtained from the pitch angle or pitching angle of the vehicle with respect to the traveling road extending forward. This pitch angle or pitching angle can also be obtained from the road markings 4 and 5. If no marking is present, a pitch angle or pitching angle estimation is preferably performed via a flat surface condition measurement. Here, the vertical or reference vector of the flat road surface is calculated. The calculation of the vertical or reference vector can be performed by observing an arbitrary structure detected by a video sensor on the road. Flat surface measurements can be made with a camera when the vehicle is in motion, and a stereoscopic approach process can be used when the vehicle is stationary or stationary. The measurement and determination of the vehicle pitch angle or pitching angle is performed by comparing the flat surface-vertical or reference vector with the vehicle longitudinal axis. Basically, a more complex model of roadway modeling can be used, for example a curved surface approach. In this case, there is no vertical or reference vector, and the pitch angle or pitching angle should be determined in a tangential direction with respect to a predetermined point on the road surface.
[0016]
FIG. 4 shows the vehicle 1 that travels toward the curve on the self-traveling road 3. The travel path 3 is defined by a streak center line 4 and an edge marking 5. The headlamp 9 of the vehicle 1 irradiates the area 10.
[0017]
The video image detected by the video sensor 2 includes information that the vehicle is moving toward the left curve. The information picked up by the video sensor is evaluated in the image evaluation unit 14 and the parameters obtained thereby are transferred to the control device 15 and from there to the headlamp 9. The left headlamp of the vehicle has received a horizontal shift toward the left, and the right headlamp 1 is adapted not only in the leftward direction but also in the upward vertical light direction in accordance with the conditions and circumstances of the road condition on the curve. It turns out that.
[0018]
By adjusting the irradiation distance and / or the irradiation direction under the use of the video sensor 13 and the object identification based on the image, it becomes possible to optimize the road illumination even in the case of using the upward and upper beams. The optimization can be performed even when there is an oncoming vehicle that follows the preceding vehicle. The optimization also includes switching from an upward, upper beam to a downward low beam. In order to fulfill the above-mentioned role, the image processing unit must be able to identify a preceding vehicle that runs ahead of the host vehicle, even if the oncoming vehicle is approaching. When such other vehicles are identified and the own vehicle faces upward and activates the upper beam, the upper beam may be automatically turned off or an alarm to the driver may be output. After the warning to the driver, it is the driver's responsibility to implement anti-glare. If a vehicle is traveling upwards and with an upper beam, it can be based on the following preconditions: the complete darkness dominates and other vehicles in the visible range Is a very small number. Under these preconditions, a greatly simplified method for object detection may be used. Here, the image evaluation unit 14 simply observes only bright and bright spots in the video image picked up by the video sensor. The points illuminated relatively brightly under the assumptions made above are simply caused by reflection or scattering of the headlamp light on the road or the object there and by other vehicle lighting devices. Can be done. Approach the vehicle at its own speed. All bright spots in the video image are those that originate from reflections or scatters on non-moving objects. In contrast, all other light is caused by a moving vehicle. When such a thing is detected, a warning or automatic anti-glare action for the driver is performed. For motion detection, known techniques can be used for image shift deviation-estimation.
[0019]
Simplified or complicated object identification can also prevent other vehicles from being dazzled. The image processing unit 14 identifies, for example, the coming vehicle and post-adjusts the lighting as follows, i.e. the post-adjustment so that the coming vehicle receives minimal dazzling. For this reason, the travel path can be illuminated with extremely limited vertical and horizontal directions. Similarly, when the image processing unit 14 detects a preceding vehicle on its own travel path 3, the illumination distance can be reduced. As soon as there are no other vehicles on the road again, the area 8 located in the preceding direction and the side can be illuminated over a large area.
[0020]
【The invention's effect】
According to the present invention, it is performed on the basis of data that enables adaptation of the headlamp adjustment setting state to the condition condition and circumstances of the traveling road, and there is an effect that the optimum illumination of the traveling road for the vehicle can be achieved. The
[Brief description of the drawings]
FIG. 1 is a schematic diagram of a vehicle. FIG. 2 is an explanatory diagram of headlamp adjustment. FIG. 3 is an explanatory diagram of a road situation scene. FIG. 4 is an explanatory diagram of illumination of a traveling road.
DESCRIPTION OF SYMBOLS 1 Vehicle 2 Video sensor traveling track 3 Traveling track 4 Streaky center line, traveling path marking 5 Edge marking 6 Guide column 7 Vehicle 8 coming to be illuminated 9 Headlamp 11 Traveling road flat surface 12 Vehicle longitudinal axis 13 Video sensor longitudinal Axis 14 Image evaluation unit 15 Controller

Claims (8)

車両（１）におけるヘッドランプ（９）の照射距離及び／又は照射方向の制御方法であって、前記ヘッドランプ（９）を、センサデータに基づき制御装置（１５）及び調整操作機構を介して調整操作する方法であって、
少なくとも１つのビデオセンサ（２）から前記車両（１）の周囲に就いての情報を収集し、道路形状の経過の画像を前記ビデオセンサ（２）によって検出し、評価ユニット（１４）において評価し、前記ヘッドランプ（９）の調整を、前記ビデオセンサ（２）の信号に基づきセンシングされた道路形状の経過に適合化させ、
前記ビデオセンサ（２）の情報を前記評価ユニット（１４）において前記ヘッドランプ（９）の調整に関するパラメータを導出可能であるか否かについて検査し、前記制御装置（１５）は、通行状態シーンの大きな多様性及び複雑性に基づいた前記道路形状の経過の予測のために前記情報から前記ヘッドランプ（９）の調整に関して有用なパラメータが導出されない場合、直線状の道路形状の経過を想定し、ヘッドランプを真直ぐ向ける通常の静的照明に対応する固定的な出発位置に前記ヘッドランプ（９）を調整する、車両のヘッドランプの照射距離及び／又は照射方向の制御方法において、
走行路（３）に対する車両（１）のピッチ角度を走行路マーキング（４，５）から求め、
該走行路マーキング（４，５）が求められない場合、車両が移動している場合にはモノカメラを使用し、車両が静止している場合にはステレオカメラを使用することにより任意の構造を観測して平坦面状態を測定し、該測定を介して走行路平坦面の垂線ベクトルを計算してピッチ角度を推定し、
該手順によりピッチ角度が推定されない場合には走行路の複雑なモデリングを使用して、垂線ベクトルの代わりに接線ベクトルを計算することにより、ピッチ角度を推定し、該ピッチ角度を利用して、前記ヘッドランプ（９）の照射距離及び／又は照射方向を調整し、
該ヘッドランプ（９）の照射距離及び／又は照射方向の調整により走行路照明を最適化し、
前記最適化において、前記ビデオセンサによって検出された画像における明るく輝く点のみを観察し、自己のヘッドランプ光の反射であるか、他の車両の照明装置の光か否かを判定し、前記ヘッドランプ（９）の照射距離及び／又は照射方向の調整に利用する、
ことを特徴とする車両のヘッドランプの照射距離・照射方向の制御方法。A method for controlling an irradiation distance and / or irradiation direction of a headlamp (9) in a vehicle (1), wherein the headlamp (9) is adjusted via a control device (15) and an adjustment operation mechanism based on sensor data. A method of operating,
Information about the surroundings of the vehicle (1) is collected from at least one video sensor (2), an image of the course of the road shape is detected by the video sensor (2) and evaluated in an evaluation unit (14). Adapting the adjustment of the headlamp (9) to the course of the road shape sensed based on the signal of the video sensor (2),
The information of the video sensor (2) is inspected in the evaluation unit (14) as to whether parameters relating to the adjustment of the headlamp (9) can be derived, and the control device (15) If no useful parameters are derived from the information for the adjustment of the headlamp (9) for the prediction of the course of the road shape based on great diversity and complexity, assuming the course of a straight road shape, In a method for controlling the irradiation distance and / or irradiation direction of a headlamp of a vehicle, wherein the headlamp (9) is adjusted to a fixed starting position corresponding to normal static lighting that directs the headlamp straight.
The pitch angle of the vehicle (1) with respect to the travel path (3) is obtained from the travel path marking (4, 5),
When the road marking (4, 5) is not required, a mono camera is used when the vehicle is moving, and a stereo camera is used when the vehicle is stationary. observed by measuring the flat surface state, estimates the pitch angle by calculating the perpendicular vector of the run path planar surface through the measurement,
Using complex modeling path run if the pitch angle is not estimated by The procedure, by calculating the tangent vector instead of a perpendicular vector to estimate the pitch angle, by using the pitch angle, before Adjust the irradiation distance and / or irradiation direction of the headlamp (9),
Optimize roadway illumination by adjusting the irradiation distance and / or the irradiation direction of the headlamp (9),
In the optimization, the observed only shines brightly point in the image detected by the video sensor, or a reflection of his head lamp light, or light or not of a lighting device of another vehicle to determine the constant, the Used for adjusting the irradiation distance and / or irradiation direction of the headlamp (9),
A method for controlling the irradiation distance and irradiation direction of a vehicle headlamp. 前記周囲に就いての情報を少なくとも１つのビデオセンサ（２）を介して求めることを特徴とする請求項１記載の方法。  2. Method according to claim 1, characterized in that information about the surroundings is determined via at least one video sensor (2). 前記センサ（２）により前記道路形状の経過を検出し、前記画像評価ユニット（１４）により評価することを特徴とする請求項１又は２記載の方法。  The method according to claim 1 or 2, characterized in that the progress of the road shape is detected by the sensor (2) and evaluated by the image evaluation unit (14). 前記ピッチ角度は、前記走行路（３）の平坦面状態測定を介して求めることを特徴とする請求項１から３までのうちいずれか１項記載の方法。  The method according to any one of claims 1 to 3, characterized in that the pitch angle is determined via a flat surface state measurement of the travel path (3). 車両（１）と走行路（３）との間のヨー角度及び道路形状の経過を求めることにより、前記ヘッドランプ（９）の水平方向における照射方向及び／又は照射距離を調整することを特徴とする請求項１から４までのうちいずれか１項記載の方法。  The irradiation direction and / or the irradiation distance in the horizontal direction of the headlamp (9) is adjusted by obtaining the yaw angle between the vehicle (1) and the road (3) and the course of the road shape. The method according to any one of claims 1 to 4. 前記画像評価ユニット（１４）により、他の車両（７）のヘッドランプを識別し、ハイビームがオンの場合には、自動的にロービームにするか、警報を運転者に送出することを特徴とする請求項１から５までのうちいずれか１項記載の方法。  The image evaluation unit (14) identifies a headlamp of another vehicle (7), and when the high beam is on, it automatically switches to a low beam or sends an alarm to the driver. 6. A method according to any one of claims 1-5. 他の車両（７）の識別を、画像シフト評価を用いて前記ビデオセンサ（２）の情報の評価を介して実施することを特徴とする請求項１から６までのうちいずれか１項記載の方法。  7. Identification of another vehicle (7) through an evaluation of the information of the video sensor (2) using an image shift evaluation, according to any one of claims 1 to 6 Method. 他の車両（７）の識別の際、前記ヘッドランプ（９）の位置の調整を行うことを特徴とする請求項１から７までのうちいずれか１項記載の方法。  8. The method as claimed in claim 1, wherein the position of the headlamp (9) is adjusted when the other vehicle (7) is identified.
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JP2011079527A (en) 2011-04-21
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ES2201352T3 (en) 2004-03-16
ATE242136T1 (en) 2003-06-15
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EP0869031A3 (en) 1999-08-18
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